Aspirin is talking to me over a generic re-usable DMA accelerated SPI interface

conf/airframes/CDW/LisaAspirin2.xml

@@ -203,13 +203,13 @@
   <modules>
 <!--
     <load name="light.xml">
-      <define name="LIGHT_LED_STROBE" value="3"/>
-      <define name="LIGHT_LED_NAV" value="2"/>
+      <define name="LIGHT_LED_STROBE" value="2"/>
+      <define name="LIGHT_LED_NAV" value="3"/>
       <define name="STROBE_LIGHT_MODE_DEFAULT" value="6"/>
       <define name="NAV_LIGHT_MODE_DEFAULT" value="4"/>
     </load>
-    -->
-    <!--    <load name="digital_cam_i2c.xml"/>  -->
+
+        <load name="digital_cam_i2c.xml"/>  -->
 
  <!--    <load name="ins_ppzuavimu.xml" /> -->
 
@@ -256,8 +256,8 @@
     <subsystem name="radio_control" type="ppm"/>
 
     <!-- Communication -->
-    <subsystem name="telemetry" type="xbee_api">
-      <configure name="MODEM_BAUD" value="B9600"/>
+    <subsystem name="telemetry" type="transparent">
+      <configure name="MODEM_BAUD" value="B57600"/>
     </subsystem>
 
     <!-- Actuators -->

conf/autopilot/subsystems/shared/imu_aspirin_v2.0.makefile

@@ -50,7 +50,7 @@ ifeq ($(ARCH), lpc21)
 #TODO
 else ifeq ($(ARCH), stm32)
 # IMU_ASPIRIN_CFLAGS += -DUSE_EXTI15_10_IRQ  # Gyro Int on PC14
-# IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
+IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 endif
 
 IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_2_0

sw/airborne/arch/stm32/mcu_periph/spi_arch.c

@@ -13,6 +13,7 @@
 #define Spi2Slave0Unselect() GPIOB->BSRR = GPIO_Pin_12
 #define Spi2Slave0Select()   GPIOB->BRR = GPIO_Pin_12
 
+
 // spi dma end of rx handler 
 void dma1_c4_irq_handler(void);
 
@@ -63,7 +64,7 @@ void spi_init(void) {
   SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;
   SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
   SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
-  SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32;
+  SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_64;
   SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
   SPI_InitStructure.SPI_CRCPolynomial = 7;
   SPI_Init(SPI2, &SPI_InitStructure);
@@ -71,6 +72,16 @@ void spi_init(void) {
   // Enable SPI_2 DMA clock ---------------------------------------------------
   RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
 
+  // SLAVE 0
+  // set accel slave select as output and assert it ( on PB12) 
+  Spi2Slave0Unselect();
+  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
+  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+  GPIO_Init(GPIOB, &GPIO_InitStructure);
+
+  spi_arch_int_enable();
 }
 
 /*
@@ -147,8 +158,10 @@ void spi_rw(volatile uint8_t* _send, volatile uint8_t* _read, volatile int _len)
 
 
 // Accel end of DMA transfert
-void dma1_c4_irq_handler(void) {
+void dma1_c4_irq_handler(void) 
+{
   Spi2Slave0Unselect();
+
   if (DMA_GetITStatus(DMA1_IT_TC4)) {
 		// clear int pending bit
 		DMA_ClearITPendingBit(DMA1_IT_GL4);

sw/airborne/arch/stm32/mcu_periph/spi_arch.h

@@ -31,7 +31,6 @@
 #include "mcu_periph/spi.h"
 #include <stm32/gpio.h>
 
-
 extern void spi_arch_int_enable(void);
 extern void spi_arch_int_disable(void);
 

sw/airborne/arch/stm32/subsystems/imu/imu_aspirin2_arch.c

@@ -10,7 +10,7 @@
 
 
 
-// gyro int handler
+// gyro interupt handler
 void exti15_10_irq_handler(void);
 
 void imu_aspirin2_arch_int_enable(void) {
@@ -72,16 +72,8 @@ void imu_aspirin2_arch_init(void) {
   EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;
   EXTI_InitStructure.EXTI_LineCmd = ENABLE;
   EXTI_Init(&EXTI_InitStructure);
-
-  // Accel 
-  // set accel slave select as output and assert it ( on PB12) 
-  Adxl345Unselect();
-  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
-  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
-  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
-  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
-  GPIO_Init(GPIOB, &GPIO_InitStructure);
 */
+
 }
 
 

sw/airborne/subsystems/imu/imu_aspirin2.c

@@ -1,8 +1,13 @@
 #include "subsystems/imu.h"
 
+#include "led.h"
 #include "mcu_periph/spi.h"
 #include "mcu_periph/spi_arch.h"
 
+// Peripherials
+#include "../../peripherals/mpu60X0.h"
+
+
 struct ImuAspirin2 imu_aspirin2;
 
 /*
@@ -19,11 +24,26 @@ void imu_impl_init(void) {
   imu_aspirin2.status = Aspirin2StatusUninit;
   imu_aspirin2.imu_available = FALSE;
 
-  imu_aspirin2_arch_init();
+//  imu_aspirin2_arch_init();
+//  spi_arch_int_enable();
+
+//  LED_TOGGLE(2);
+  LED_TOGGLE(3);
 }
 
 
-void imu_periodic(void) {
+void imu_periodic(void) 
+{
+
+//  LED_TOGGLE(2);
+//  LED_TOGGLE(3);
+
+  imu_aspirin2.imu_len = 2;
+  imu_aspirin2.imu_tx_buf[0] = MPU60X0_REG_WHO_AM_I + 0x80;
+  imu_aspirin2.imu_tx_buf[1] = 0x00;
+
+  spi_rw(imu_aspirin2.imu_tx_buf, imu_aspirin2.imu_rx_buf, imu_aspirin2.imu_len);
+
 /*
   hmc5843_periodic();
   if (imu_aspirin.status == AspirinStatusUninit) {
@@ -39,7 +59,7 @@ void imu_periodic(void) {
       configure_accel();
       imu_aspirin.time_since_last_accel_reading=0;
     }
-  }
+  } 
 */
 }
 

sw/airborne/subsystems/imu/imu_aspirin2.h

@@ -66,6 +66,7 @@ struct ImuAspirin2 {
   volatile uint8_t imu_available;
   volatile uint8_t imu_tx_buf[64];
   volatile uint8_t imu_rx_buf[64];
+  volatile uint8_t imu_len;
   uint32_t time_since_last_reading;
 };